Control Implications in Tracking Moving Objects Using Time-Varying Perspective-Projective Imagery

Control implications which arise when tracking moving objects contained in time-varying perspective-projective imagery are studied. First, a transformation is derived to relate pan/tilt camera mount movement to image plane perturbations. Ramifications of this model, particularly with respect to magnification ratio, noncentered targets and camera mount angular magnitudes are illustrated. A pan/tilt control algorithm is then developed using this transformation and a large magnification ratio assumption. Experimental results with real imagery are shown to confirm the approach validity.